Sliding mode control with fuzzy compensator of pneumatic muscle actuator

Authors:
Jun Wu;Yongji Wang;Jian Huang;Kexin Xing
Affiliations:
Key Laboratory of Image Processing and Intelligent Control, Department of Control Science and Engineering, HuaZhong University of Science and Technology, Wuhan, Hubei, China.;Key Laboratory of Image Processing and Intelligent Control, Department of Control Science and Engineering, HuaZhong University of Science and Technology, Wuhan, Hubei, China.;Key Laboratory of Image Processing and Intelligent Control, Department of Control Science and Engineering, HuaZhong University of Science and Technology, Wuhan, Hubei, China.;Key Laboratory of Image Processing and Intelligent Control, Department of Control Science and Engineering, HuaZhong University of Science and Technology, Wuhan, Hubei, China
Venue:
International Journal of Computer Applications in Technology
Year:
2012

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Abstract

In this paper, the Pneumatic Muscle (PM) as actuator is investigated. The PM model is established by using a phenomenological model consisting of a contractile element, a spring element, and a damping element in parallel. Unlike the previous study, we fully consider the different characteristics of PM model in different pressure ranges, especially in low pressure range. In order to test the effectiveness of our PM modelling, the Sliding Mode Control (SMC) is applied. For the purpose of improving the tracking accuracy, self-adaptation and robustness of PM control, Sliding Mode Control with Fuzzy Compensator (FCSMC) is developed to make PM system track a desired trajectory within a guaranteed accuracy even though there are modelling uncertainties, friction, disturbance, and so on. Based on the Lyapunov theory, the stability criterion under FCSMC control strategy for PM system is established. The experimental results demonstrate the validity of PM modelling as well as indicate the effectiveness of the proposed FCSMC method.